sick_nav_350.launch.py

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import os
import sys
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
 
def generate_launch_description():
 
    ld = LaunchDescription()
    sick_scan_pkg_prefix = get_package_share_directory('sick_scan_xd')
    launchfile = os.path.basename(__file__)[:-3] # convert "<lidar_name>.launch.py" to "<lidar_name>.launch"
    launch_file_path = os.path.join(sick_scan_pkg_prefix, 'launch/' + launchfile) # 'launch/sick_nav_350.launch')
    node_arguments=[launch_file_path]
    
    # append optional commandline arguments in name:=value syntax
    for arg in sys.argv:
        if len(arg.split(":=")) == 2:
            node_arguments.append(arg)
    
    ROS_DISTRO = os.environ.get('ROS_DISTRO') # i.e. 'eloquent', 'foxy', etc.
    if ROS_DISTRO[0] <= "e": # ROS versions eloquent and earlier require "node_executable", ROS foxy and later use "executable"
        node = Node(
            package='sick_scan_xd',
            node_executable='sick_generic_caller',
            output='screen',
            remappings=[ ('/sick_nav_350/scan', '/scan'), ], # remap laserscan messages to topic /scan, required for slam_toolbox
            arguments=node_arguments
        )
    else: # ROS versions eloquent and earlier require "node_executable", ROS foxy and later use "executable"
        node = Node(
            package='sick_scan_xd',
            executable='sick_generic_caller',
            output='screen',
            remappings=[ ('/sick_nav_350/scan', '/scan'), ], # remap laserscan messages to topic /scan, required for slam_toolbox
            arguments=node_arguments
        )
    
    ld.add_action(node)
    return ld